Fast Self-Alignment Technology for Hybrid Inertial Navigation Systems Based on a New Two-Position Analytic Method

Liu, Bingqi; Wei, Shihui; Lu, Jiazhen; Wang, Jiping; Su, Guohua

doi:10.1109/tie.2019.2910045

Cited by 31 publications

(8 citation statements)

References 11 publications

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“…The main task of initial alignment of strapdown inertial navigation system (SINS) is to determine the initial attitude generally from the body frame to the navigation frame [1][2][3][4][5]. Because SINS is a dead-reckoning navigation system, the accurate initial attitude is important for achieving high precision positioning and navigation requirements [6][7][8][9][10].…”

Section: Introductionmentioning

confidence: 99%

Optimization-based self-alignment method for stationary SINS with geographical latitude uncertainty

Li¹,

Duan²,

Yuan³

et al. 2022

Meas. Sci. Technol.

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To solve the self-alignment problem of strapdown inertial navigation system (SINS) with geographical latitude uncertainty, an optimization-based self-alignment (OSA) method and its improvement for stationary SINS without using the latitude information are proposed. We use only the accelerometer and gyroscope measurements, without the aid of the external latitude information, to determine the Earth rate in the navigation frame. Then we formulate the SINS self-alignment process as a Wahba problem to overcome the disturbances of random noise, and use the estimated Earth rate vector and multiple measurements from the accelerometer and gyroscope to formulate the nonlinear objective function. Moreover, the alignment errors of the OSA method are also presented, based on which we propose a two-position OSA to estimate and compensate the horizontal accelerometer biases to further improve the alignment accuracy. The results of simulation and experiments demonstrate that the proposed OSA method and its improvement perform robust to the noise disturbances and achieve better alignment accuracy than conventional self-alignment methods.

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Section: Introductionmentioning

confidence: 99%

Optimization-based self-alignment method for stationary SINS with geographical latitude uncertainty

Li¹,

Duan²,

Yuan³

et al. 2022

Meas. Sci. Technol.

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show abstract

“…Liu et al proposed a fast alignment technology based on two-position analytic method to address the environment issue to optimize the environment adaptability. 2 Through updating attitude transformation matrix and a dynamic error compensation algorithm, the error of alignment is obviously restrained when carrier is in oscillating state. Kalman filter is the popular method the address alignment issues.…”

Section: Introductionmentioning

confidence: 99%

Inertial alignment with improved EMD filter of inclinometer in coal drilling rig

Liu

Zhang

et al. 2022

Measurement and Control

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Inertial navigation system (INS) is widely used as inclinometer in coal drilling rig to realize navigation and attitude measurement. Vibration of coal drilling rig is one of the significant issues impacting the performance of alignment. Previous work has indicated that part of alignment error caused by vibration of gyroscope can be suppressed by inertial alignment frame. However, vibration error of accelerometer cannot be well suppressed. In this paper, an inertial alignment based on improved empirical mode decomposition (EMD) filter is proposed to address vibration issue in alignment. Moreover, a prediction strategy of extreme endpoints based on relativity of extreme points is proposed to reduce the endpoint error to suppress the accumulative error in EMD filter. The proposed alignment method is applied in laboratory condition. The result shows that the stability of accelerometer improves 42.43% at most, the alignment time reduce from 300 to 100 s and the alignment error of inclination angle is less than 5.4 arcmin. The experiment in coal mining rig shows the alignment time reduces from 300 to 50 s. The proposed alignment method improves the performance of inclinometer effectively and feasibly in alignment period and the improved EMD filter can be also applied in navigation period to suppress the vibration error of accelerometer.

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“…T HE main task of the self-alignment process of the strapdown inertial navigation system (SINS) is to determine its initial attitude using the measurements of the gravity vector and the Earth rate vector [1]- [3]. As SINS is a dead-reckoning navigation system, an accurate initial attitude determined by the self-alignment process is crucial for guaranteeing the navigation accuracy of SINS [4]- [8].…”

Section: Introductionmentioning

confidence: 99%

Gradient Descent Optimization-Based SINS Self-Alignment Method and Error Analysis

Chang

Zhang

2021

IEEE Access

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In this paper, the self-alignment for stationary strapdown inertial navigation system (SINS) is formulated as an optimization problem, and two gradient descent optimization-based SINS self-alignment methods (GD1 and GD2) are proposed. The highlight lies in that two quaternion-based objective functions are firstly formulated to solve the stationary SINS self-alignment problem. Different from conventional initial alignment methods, we firstly construct a quaternion-based objective function for stationary SINS using gravity, Earth rate and local latitude information in GD1, and employs gradient descent method to achieve the minimum of the objective function. Secondly, we further improve the quaternion-based objective function in GD2 by using the measurements from IMU to represent the Earth rate instead of using the local latitude directly. Thus, GD2 method is more competent for SINS self-alignment when the local latitude information is not available. In addition, we also analyze the bias errors of accelerometer and gyroscope and the quaternion normality error for GD1 and GD2 method respectively. Moreover, based on the analysis results, a scale factor is also introduced to reduce the alignment errors of GD1 caused by gyroscope biases. Simulation and static experiment are implemented to test the performances of GD1 and GD2 method, and the results verify the accuracy and speed of the proposed methods.

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Fast Self-Alignment Technology for Hybrid Inertial Navigation Systems Based on a New Two-Position Analytic Method

Cited by 31 publications

References 11 publications

Optimization-based self-alignment method for stationary SINS with geographical latitude uncertainty

Optimization-based self-alignment method for stationary SINS with geographical latitude uncertainty

Inertial alignment with improved EMD filter of inclinometer in coal drilling rig

Gradient Descent Optimization-Based SINS Self-Alignment Method and Error Analysis

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